Revision 98ed4757
Basic BOM works (only 1 BOM in 'centre' of scout)
Added BOM topic to scouts
Added 'kill' for emitters
scout/scoutsim/src/scout.cpp | ||
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102 | 102 |
pose_pub = node.advertise<Pose>("pose", 1); |
103 | 103 |
color_pub = node.advertise<Color>("color_sensor", 1); |
104 | 104 |
sonar_pub = node.advertise< ::messages::sonar_distance>("sonar_distance", 1); |
105 |
bom_pub = node.advertise<BOM>("BOM", 1); |
|
105 | 106 |
set_pen_srv = node.advertiseService("set_pen", |
106 | 107 |
&Scout::setPenCallback, |
107 | 108 |
this); |
... | ... | |
429 | 430 |
} |
430 | 431 |
} |
431 | 432 |
|
433 |
void Scout::pub_BOM(bool bom_0) { |
|
434 |
BOM b; |
|
435 |
|
|
436 |
b.bom_0 = true; |
|
437 |
bom_pub.publish(b); |
|
438 |
} |
|
439 |
|
|
440 |
|
|
432 | 441 |
/// Sends back the position of this scout so scoutsim can save |
433 | 442 |
/// the world state |
434 | 443 |
/// @todo remove dt param |
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